Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. An information processing apparatus comprising: at least one memory; and at least one processor in communication with the at least one memory, the at least one processor configured to operate as: an image obtaining unit configured to obtain an image picked up by an image pickup apparatus; a first detection unit configured to detect a first feature from the image; a second detection unit configured to detect a second feature that is different from the first feature from the image by using a method different from a method of the first detection unit; a first position orientation derivation unit configured to derive a position and/or orientation of the image pickup apparatus as a first position and/or orientation on the basis of the first feature detected from the image; a second position orientation derivation unit configured to derive a position and/or orientation of the image pickup apparatus as a second position and/or orientation on the basis of the second feature detected from the image; and a decision unit configured to decide one of the first position and/or orientation and the second position and/or orientation as the position and/or orientation of the image pickup apparatus by comparing a value based on at least one of the first position and/or orientation and the second position and/or orientation with a threshold.
2. The information processing apparatus according to claim 1 , wherein the at least one processor further configured to operate as a determination unit configured to determine whether or not the derivation of the first position and/or orientation and the derivation of the second position and/or orientation respectively satisfy a predetermined condition.
This invention relates to an information processing apparatus for determining the positions and orientations of objects in a space, addressing challenges in accurately tracking and validating positional and orientational data. The apparatus includes at least one processor configured to derive a first position and/or orientation of a first object and a second position and/or orientation of a second object. The processor further operates as a determination unit to assess whether the derived positions and/or orientations meet a predetermined condition, ensuring reliability and accuracy in the tracking process. The predetermined condition may involve thresholds for positional or orientational deviations, consistency checks, or other validation criteria. This validation step helps filter out erroneous or inconsistent data, improving the robustness of the tracking system. The apparatus may be used in applications such as augmented reality, robotics, or motion capture, where precise and reliable positional and orientational data are critical. The determination unit's role is to verify that the derived data adheres to expected parameters, enhancing the overall performance of the system.
3. The information processing apparatus according to claim 2 , wherein, when it is determined that both the derivation of the first position and/or orientation and the derivation of the second position and/or orientation do not satisfy the predetermined condition, the first position and/or orientation is decided as the position and/or orientation of the image pickup apparatus.
4. The information processing apparatus according to claim 2 , wherein, when it is determined that the derivation of the first position and/or orientation satisfies the predetermined condition and it is determined that the derivation of the second position and/or orientation does not satisfy the predetermined condition, the second position and/or orientation is decided as the position and/or orientation of the image pickup apparatus, and when it is determined that the derivation of the second position and/or orientation satisfies the predetermined condition and it is determined that the derivation of the first and/or position orientation does not satisfy the predetermined condition, the first position and/or orientation is decided as the position and/or orientation of the image pickup apparatus.
5. The information processing apparatus according to claim 2 , wherein, when it is determined that both the derivation of the first position and/or orientation and the derivation of the second position and/or orientation satisfy the predetermined condition, the position and/or orientation decided on the basis of an image obtained before the image is obtained is decided as the position and/or orientation of the image pickup apparatus.
6. The information processing apparatus according to claim 2 , wherein the determination unit performs the determination while a failure of the derivation of the position and/or orientation is set as the predetermined condition.
This invention relates to an information processing apparatus designed to enhance the accuracy and reliability of position and orientation tracking in systems where such data may be temporarily unavailable or unreliable. The apparatus includes a determination unit that evaluates whether a failure in deriving position and/or orientation data meets a predetermined condition. When such a failure occurs, the apparatus adjusts its operations to maintain functionality, such as by relying on alternative data sources, predictive algorithms, or fallback mechanisms. The apparatus may also include a derivation unit that calculates position and orientation data from input signals, such as sensor data, and a storage unit that retains historical or reference data for comparison or correction purposes. The determination unit's ability to detect and respond to failures ensures continuous operation even under adverse conditions, such as sensor malfunctions, signal interference, or environmental disruptions. This invention is particularly useful in applications requiring precise tracking, such as augmented reality, robotics, autonomous navigation, and industrial automation, where interruptions in position and orientation data could lead to system errors or safety hazards. The apparatus improves robustness by dynamically adapting to data derivation failures, thereby minimizing downtime and enhancing overall system reliability.
7. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to operate as a setting unit configured to set, in a case where the decision unit decides the first position and/or orientation as the position and/or orientation of the image pickup apparatus, the first position and/or orientation decided by the decision unit as an initial value of the processing by the second position and/or orientation derivation unit, and configured to set, in a case where the decision unit decides the second position and/or orientation as the position and/or orientation of the image pickup apparatus, the second position and/or orientation decided by the decision unit as an initial value of the processing by the first position orientation derivation unit, wherein the first position orientation derivation unit or the second position orientation derivation unit performs the processing on the basis of the set initial value.
8. The information processing apparatus according to claim 1 , wherein the decision unit decides a position and/or orientation obtained by weighting the first position and/or orientation and the second position and/or orientation at a predetermined ratio as the position and/or orientation of the image pickup apparatus.
This invention relates to an information processing apparatus for determining the position and orientation of an image capture device, such as a camera, by combining data from multiple sources. The problem addressed is the need for accurate and reliable position and orientation estimation in scenarios where a single sensor or method may be insufficient, such as in environments with poor visibility or sensor noise. The apparatus includes a decision unit that processes two sets of position and orientation data: a first set derived from a primary method, such as inertial measurement or visual tracking, and a second set from a secondary method, such as external sensors or user input. The decision unit calculates a weighted combination of these two sets, where the weights are predetermined ratios, to produce a final position and orientation for the image capture device. This weighted fusion improves accuracy by mitigating errors from individual sources. The apparatus may also include a first acquisition unit that obtains the first position and orientation data and a second acquisition unit that obtains the second position and orientation data. The decision unit applies the weighting to these inputs, allowing for flexible integration of different sensor types or tracking algorithms. The invention is particularly useful in applications like augmented reality, robotics, and autonomous navigation, where precise spatial tracking is critical. The weighted fusion approach ensures robustness by leveraging multiple data sources while maintaining computational efficiency.
9. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to operate as an obtaining unit configured to obtain degrees of stability of the derivation of the first position and/or orientation and the derivation of the second position and/or orientation, wherein the decision unit decides the position and/or orientation on the basis of the first position and/or orientation, the second position and/or orientation, and the degrees of stability.
10. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to operate as an estimation unit configured to estimate a change of a movement of the image pickup apparatus from the position and/or orientation output at a predetermined time and the position and/or orientation output in a frame at a past time before the predetermined time, wherein the decision unit decides the position and/or orientation of the image pickup apparatus on the basis of the first position and/or orientation, the second position and/or orientation, and the change of the movement.
11. The information processing apparatus according to claim 1 , wherein the first detection unit detects a pixel having a luminance gradient higher than or equal to a predetermined value in the image as the first feature by applying a predetermined filter to the image, and wherein the second detection unit detects an area having a predetermined shape from the image and then reads internal identification information of the area to detect the second feature.
12. The information processing apparatus according to claim 1 , wherein the first feature is a feature point having the luminance gradient in the image.
13. The information processing apparatus according to claim 1 , wherein the second feature is a marker having a rectangular shape and having identification information inside the rectangle.
This invention relates to information processing systems that use markers for tracking or identifying objects in a physical space. The problem addressed is the need for a reliable and easily detectable marker that can be used in various applications, such as augmented reality, robotics, or object tracking, where precise identification and positioning are required. The invention describes an information processing apparatus that includes a marker with a rectangular shape, containing identification information inside the rectangle. The marker is used to extract features from an image captured by an imaging device, such as a camera. The apparatus processes the image to detect the rectangular marker and decode the identification information, which may include alphanumeric characters, symbols, or other encoded data. The marker's rectangular shape ensures consistent detection, while the embedded identification information allows for unique differentiation between multiple markers in the same environment. The system may also include a feature extraction unit that analyzes the image to locate the marker and a decoding unit that interprets the identification information. The apparatus can then use this data for tasks such as object tracking, spatial mapping, or interaction with virtual elements in augmented reality applications. The marker's design ensures robustness against environmental factors like lighting variations or partial occlusion, improving reliability in real-world use.
14. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to operate as a generation unit configured to generate a computer graphics (CG) image on the basis of the output position and/or orientation.
15. The information processing apparatus according to claim 14 , wherein the at least one processor is further configured to operate as: the generation unit configured to generate a combined image obtained by combining the image with the CG image; and a display control unit configured to display the combined image on a display device.
This invention relates to an information processing apparatus designed to enhance visual content by integrating computer-generated (CG) imagery with real-world images. The apparatus addresses the challenge of seamlessly blending digital elements with captured visual data, ensuring realistic and immersive visual experiences. The system includes at least one processor configured to generate a combined image by merging a real-world image with a CG image, then displaying this composite output on a display device. The processor also performs image analysis to determine optimal placement and integration of the CG elements, ensuring visual coherence. Additionally, the apparatus may adjust the CG image's properties, such as transparency or lighting, to match the real-world image's conditions. The display control unit manages the presentation of the combined image, ensuring smooth and accurate rendering. This technology is applicable in augmented reality, virtual reality, and multimedia applications where realistic integration of digital and real-world visuals is essential. The invention improves user engagement by providing more lifelike and interactive visual content.
16. The information processing apparatus according to claim 15 , wherein the display device is a head mount display mounted to a head part of a user.
17. A non-transitory computer-readable storage medium storing a program for causing a computer to function as the respective units of the information processing apparatus according to claim 1 .
This invention relates to an information processing apparatus and a computer-readable storage medium for executing a program that enables a computer to function as the apparatus. The apparatus includes multiple units designed to perform specific functions, such as data processing, communication, or user interface operations. The storage medium contains a program that, when executed, configures a computer to operate as these units, effectively replicating the apparatus's functionality in software. The invention addresses the need for flexible, software-based implementations of information processing systems, allowing for easier updates, scalability, and adaptability compared to hardware-based solutions. The program stored on the medium ensures that the computer can perform the same tasks as the dedicated apparatus, including processing input data, generating output, and managing interactions with other systems or users. This approach reduces hardware dependencies and enables deployment across various computing environments. The storage medium may include any non-volatile memory, such as solid-state drives, optical discs, or other persistent storage technologies, ensuring the program remains accessible for execution. The invention simplifies system deployment and maintenance while maintaining the performance and reliability of the original apparatus.
18. An information processing apparatus comprising: at least one memory; and at least one processor in communication with the at least one memory, the at least one processor configured to operate as: an image obtaining unit configured to obtain an image picked up by an image pickup apparatus; a second detection unit configured to detect a second feature from the image; and a decision unit configured to decide, in a case where a result of the second detection unit satisfies a first condition, a position and/or orientation of the image pickup apparatus which is derived on the basis of the second feature as the position and/or orientation of the image pickup apparatus, and configured to decide, in a case where the result of the second detection unit does not satisfy the first condition, a position and/or orientation of the image pickup apparatus derived on the basis of a first feature detected by using a detection method different from a detection method for the second feature as the position and/or orientation of the image pickup apparatus.
19. The information processing apparatus according to claim 18 , wherein the decision unit decides the position and/or orientation of the image pickup apparatus derived on the basis of the second feature as the position and/or orientation of the image pickup apparatus in a case where the number of the second features detected by the second detection unit is higher than a threshold, and decides the position and/or orientation of the image pickup apparatus derived on the basis of the first feature detected by using the detection method different from the detection method for the second feature as the position and/or orientation of the image pickup apparatus in a case where the number of the second features detected by the second detection unit is lower than or equal to the threshold.
20. A non-transitory computer-readable storage medium storing a program for causing a computer to function as the respective units of the information processing apparatus according to claim 18 .
21. An information processing method comprising: obtaining an image picked up by an image pickup apparatus; detecting a first feature from the image; detecting a second feature different from the first feature from the image by using a method different from a detection method of detecting the first feature; deriving a position and/or orientation of the image pickup apparatus as a first position and/or orientation on the basis of the first feature detected from the image; deriving a position and/or orientation of the image pickup apparatus as a second position and/or orientation on the basis of the second feature detected from the image; and deciding one of the first position and/or orientation and the second position and/or orientation as the position and/or orientation of the image pickup apparatus by comparing a value based on at least one of the first position and/or orientation and the second position and/or orientation with a threshold.
22. An information processing method comprising: obtaining an image picked up by an image pickup apparatus; detecting a second feature from the image; and deciding a position and/or orientation of the image pickup apparatus which is derived on the basis of the second feature as a position and/or orientation of the image pickup apparatus in a case where a result of the detecting satisfies a first condition and deciding a position and/or orientation of the image pickup apparatus which is derived on the basis of a first feature detected by a detection method different from a detection method for the second feature as the position and/or orientation of the image pickup apparatus in a case where the result of the detecting does not satisfy the first condition.
This invention relates to image-based positioning and orientation determination for an image capture device, such as a camera or sensor. The problem addressed is the need for accurate and reliable positioning and orientation data, particularly in environments where traditional detection methods may fail or produce unreliable results. The method involves capturing an image using an image pickup apparatus and analyzing the image to detect a second feature. If the detection result meets a predefined first condition (e.g., sufficient confidence, clarity, or reliability), the system determines the position and/or orientation of the image pickup apparatus based on this second feature. However, if the detection result does not meet the first condition, the system instead relies on a first feature detected by an alternative method. The first feature is derived using a different detection technique than the one used for the second feature, ensuring redundancy and fallback capabilities. This approach ensures robust positioning and orientation estimation by dynamically selecting the most reliable detection method based on real-time conditions. The system avoids errors that may arise from a single detection method failing under certain circumstances, improving accuracy in applications such as augmented reality, robotics, or autonomous navigation.
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February 23, 2021
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